Josh Felix-Eppiah opened for the visitors, before Joe Rankin-Costello equalised just before the end of the first half.

Extra-time was needed as no further goals were scored in the 90, with Rankin-Costello's superb solo goal putting Rovers' noses in front.

However a spirited Foxes side soon got back on level terms as Kairo Mitchell drove home.

But with almost the last kick of the game, Rankin-Costello cut in from the flank to feed Steer and he fired Rovers into the next round.

"I think for everybody here it was a good game to watch," Barr told Rovers PlayerHD.

"Obviously we made it hard again as we do. But we are in the next round, Aston Villa at Villa Park.

"We thought we could have been better with the ball tonight and we are going to have to be when we play Villa as they are a very good team.

"I was resigned to penalties, as you would be going into the last minute of extra-time. We were getting our penalty takers organised.

"But Joe Rankin-Costello, who I thought was the standout man-of-the-match, pops up with a bit of magic again and lays it onto Joel Steer and he puts it in.

"I was very pleased with him, Joe has shown a lot of people tonight that have not seen him that he's a good player. Hopefully we keep his feet on the ground and we look at his progression and take him and challenge him and push him on."

The Under-18s return to league action this Saturday when they travel to take on West Bromwich Albion.